In accordance with an exemplary embodiment, methods and systems are provided for controlling steering of an autonomous vehicle. The method includes operating, by a processor, the autonomous vehicle in a semi-automated mode; receiving, by the processor, a driver input including the measured driver torque; receiving, by the processor, threat data; determining, by the processor, a steering command deviation based on the impedance relationship, the impedance parameter, the measured driver torque, and the threat data; determining, by the processor, a reference angle based on the steering command deviation and a desired angle; and generating, by the processor, control data to control steering of the autonomous vehicle based on the reference angle.
根据示例性实施例,提供了用于控制自主车辆的转向的方法和系统。该方法包括:由处理器以半自动化模式操作该自主车辆;由处理器接收包括测量的驾驶员扭矩的驾驶员输入;由处理器接收威胁数据;由处理器基于阻抗关系、阻抗参数、所测量的驾驶员扭矩和威胁数据来确定转向命令偏差;由该处理器基于该转向命令偏差和所需角度确定基准角;以及由处理器产生控制数据,以基于基准角来控制自主车辆的转向。
Method and system for adaptive fusion of driver and automated steering commands under external threats
用于在外部威胁下使驾驶员和自动化转向命令自适应融合的方法和系统
2023-06-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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